Design and Implementation of a Haptic Device for Training in Urological Operations

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dc.contributor.author Vlachos, K en
dc.contributor.author Papadopoulos, E en
dc.contributor.author Mitropoulos, DN en
dc.date.accessioned 2014-03-01T01:18:50Z
dc.date.available 2014-03-01T01:18:50Z
dc.date.issued 2003 en
dc.identifier.issn 1042-296X en
dc.identifier.uri http://hdl.handle.net/123456789/15220
dc.subject Force feedback en
dc.subject Haptic devices en
dc.subject Training medical simulators en
dc.subject Urological operations en
dc.subject.classification Automation & Control Systems en
dc.subject.classification Engineering, Electrical & Electronic en
dc.subject.classification Robotics en
dc.subject.other Actuators en
dc.subject.other Degrees of freedom (mechanics) en
dc.subject.other Feedback en
dc.subject.other Kinematics en
dc.subject.other Urology en
dc.subject.other Virtual reality en
dc.subject.other Haptic devices en
dc.subject.other Robotics en
dc.title Design and Implementation of a Haptic Device for Training in Urological Operations en
heal.type journalArticle en
heal.identifier.primary 10.1109/TRA.2003.817064 en
heal.identifier.secondary http://dx.doi.org/10.1109/TRA.2003.817064 en
heal.language English en
heal.publicationDate 2003 en
heal.abstract Virtual reality is becoming very important for training medical surgeons in various operations. Interfacing users with a virtual training environment requires the existence of a properly designed haptic device. This paper presents the design and implementation of a new force feedback haptic mechanism with five active degrees of freedom (DOFs), which is used as part of a training simulator for urological operations. The mechanism consists of a 2-DOF, 5-bar linkage, and a 3-DOF spherical joint, designed to present low friction, inertia and mass, and to be statically balanced. The device is suitable for the accurate application of small forces and moments. All five actuators of the haptic device are base-mounted dc motors and use a force transmission system based on capstan drives, pulleys, and tendons. The paper describes the overall design and sizing considerations, the resulting kinematics and dynamics, the force feedback control algorithm, and the hardware employed. Experimental results are provided. en
heal.journalName IEEE Transactions on Robotics and Automation en
dc.identifier.doi 10.1109/TRA.2003.817064 en
dc.identifier.isi ISI:000185906400005 en
dc.identifier.volume 19 en
dc.identifier.issue 5 en
dc.identifier.spage 801 en
dc.identifier.epage 809 en

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